Combine sugar, milk, salt, and cocoa powder in a pan over medium heat, stirring constantly.
Bring to a simmer. Place the egg yolks into a small bowl. Gradually stir in about 1/2 cup of the hot liquid.
Pour pan heat upto thick remember dont boil.
Remove from the heat, and stir in the chopped chocolate until chocolate it melted.
Pour into a chilled bowl, and refrigerate for about two hours until cold, stirring occasionally.
When chocolate mixture has completely cooled, stir in the cream, and vanilla. Pour into an ice cream maker, and freeze according to manufacturer's directions.
Store in fridge for overnight to freeze.
Enjoy eating when it chill.